Set of constraints applicable to a robot configuration. More...
#include <hpp/core/constraint-set.hh>
Public Member Functions | |
void | addConstraint (const ConstraintPtr_t &constraint) |
Add a constraint to the set. More... | |
const ConfigProjectorPtr_t & | configProjector () const |
Return pointer to config projector if any. More... | |
bool | isSatisfied (ConfigurationIn_t config) |
Check whether a configuration statisfies the constraint. More... | |
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bool | apply (ConfigurationOut_t configuration) |
Function that applies the constraint. More... | |
const std::string & | name () const |
Get name of constraint. More... | |
Static Public Member Functions | |
static ConstraintSetPtr_t | create (const DevicePtr_t &robot, const std::string &name) |
Return shared pointer to new object. More... | |
Protected Types | |
typedef std::deque< ConstraintPtr_t > | Constraints_t |
Protected Member Functions | |
ConstraintSet (const DevicePtr_t &robot, const std::string &name) | |
void | init (const ConstraintSetPtr_t &self) |
Store weak pointer to itself. More... | |
virtual bool | impl_compute (ConfigurationOut_t configuration) |
User defined implementation of the constraint. More... | |
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Constraint (const std::string &name) | |
Constructor. More... | |
void | init (const ConstraintPtr_t &self) |
Store shared pointer to itself. More... | |
Set of constraints applicable to a robot configuration.
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protected |
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protected |
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inline |
Add a constraint to the set.
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inline |
Return pointer to config projector if any.
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inlinestatic |
Return shared pointer to new object.
References init().
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protectedvirtual |
User defined implementation of the constraint.
Implements hpp::core::Constraint.
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inlineprotected |
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virtual |
Check whether a configuration statisfies the constraint.
Implements hpp::core::Constraint.